相关论文: Improving Zero-Shot ObjectNav with Generative Comm…

Existing Reinforcement Learning (RL) systems encounter significant challenges when applied to real-world scenarios, primarily due to poor generalization across environments that differ from their training conditions. This thesis explores…

Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…

Embodied agents often struggle with efficient navigation because they rely primarily on partial egocentric observations, which restrict global foresight and lead to inefficient exploration. In contrast, humans plan using maps: we reason…

Goal oriented dialogue systems have become a prominent customer-care interaction channel for most businesses. However, not all interactions are smooth, and customer intent misunderstanding is a major cause of dialogue failure. We show that…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

Collaborative perception significantly enhances autonomous driving safety by extending each vehicle's perception range through message sharing among connected and autonomous vehicles. Unfortunately, it is also vulnerable to adversarial…

Zero-shot object-goal navigation (ZSON) is a challenging problem in robotics that requires a comprehensive understanding of both language and visual observations. Contextual cues from rooms and objects are critical, but their relative…

Vision-Language Navigation (VLN) is evolving from single-point pathfinding toward the more challenging Multi-Goal VLN. This task requires agents to accurately identify multiple entities while collaboratively reasoning over their…

Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…

Delivering intelligent and adaptive navigation assistance in augmented reality (AR) requires more than visual cues, as it demands systems capable of interpreting flexible user intent and reasoning over both spatial and semantic context.…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

This paper presents a reinforcement learning method for object goal navigation (ObjNav) where an agent navigates in 3D indoor environments to reach a target object based on long-term observations of objects and scenes. To this end, we…

Aerial vision-language navigation (AVLN) enables UAVs to follow natural-language instructions in complex 3D environments. However, existing zero-shot AVLN methods often suffer from unstable single-stream Vision-Language Model…

Generative Engine Optimization (GEO) is rapidly reshaping digital marketing paradigms in the era of Large Language Models (LLMs). However, current GEO strategies predominantly rely on Retrieval-Augmented Generation (RAG), which inherently…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

In this work, we propose GLOV, which enables Large Language Models (LLMs) to act as implicit optimizers for Vision-Language Models (VLMs) to enhance downstream vision tasks. GLOV prompts an LLM with the downstream task description, querying…

Vision-and-language navigation (VLN) tasks require agents to navigate three-dimensional environments guided by natural language instructions, offering substantial potential for diverse applications. However, the scarcity of training data…

Natural language instructions for visual navigation often use scene descriptions (e.g., "bedroom") and object references (e.g., "green chairs") to provide a breadcrumb trail to a goal location. This work presents a transformer-based…

Imitation learning and instruction-following are two common approaches to communicate a user's intent to a learning agent. However, as the complexity of tasks grows, it could be beneficial to use both demonstrations and language to…

Vision-and-Language Navigation (VLN) aims to navigate to the target location by following a given instruction. Unlike existing methods focused on predicting a more accurate action at each step in navigation, in this paper, we make the first…